Siemens SINUMERIK 840D sl Function Manual page 114

F2: Multi-axis transformations
1.11 Orientation vectors
Programming of orientation direction and rotation
While the direction of rotation is already defined when you program the orientation with RPY
angles, additional parameters are needed to specify the direction of rotation for the other
orientations:
1. Direct programming of the rotary axes
A supplementary rotary axis for direction of rotation has to be defined.
2. Programming in Euler angles via A2, B2, C2
Angle C2 must be programmed additionally. The complete orientation is thus defined,
including tool rotation.
3. Programming in RPY angles via A2, B2, C2
Additional settings are not required.
4. Programming of the direction vector via A3, B3, C3
The rotation angle is programmed with THETA=<value>.
Note
The following cases do not allow for a programmed rotation:
Multiple programming of the direction of rotation is not allowed and results in an alarm. If
the Euler angle C2 and the angle of rotation THETA are programmed simultaneously, the
programmed rotation is not executed.
If machine kinematics are such that the tool cannot be rotated, any programmed rotation
is ignored. This is the case with a normal 5-axis machine, for example.
Rotation of the orientation vector
The following options are available for interpolating rotation of the orientation vector by
programming the vector directly:
• Linear interpolation, i.e. the angle between the current rotation vector and the start vector
is a linear function of the path parameter.
• Non-linear due to additional programming of a polynomial for the angle of rotation
degree maximum, in the format:
PO[THT] = (
Interpolation of the angle of rotation
Higher degree coefficients can be omitted from the coefficient list (..., ....) if these are all equal
to zero.
In such cases, the end value of the angleand the constant and linear coefficient
polynomial cannot be programmed directly.
The linear coefficient
The end angle
114
d d d d
, , , )
2 3 4 5
d
is defined by means of the end angle
n
q
is derived from programming of the rotation vector.
e
q
in degrees.
e
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
q
of 5th
d
of the
n
Special Functions